Industrial Robotics
C. Melchiorri (DEI) Industrial Robotics 1
INDUSTRIAL ROBOTICS
Claudio Melchiorri
Dipartimento di Ingegneria dell’Energia Elettrica e dell’Informazione (DEI) Università di Bologna
Email: [email protected]
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Introduction
• The first “modern” robots have been developed for teleoperation (radioactive material, in the 50’s) and prosthetic applications.
• Robots have been used in production plants since the 70’s.
• Initially, they have been almost exclusively used in industrial environments in tasks such as painting, welding, manipulation, assembly, and so on.
• More recently, they are more and more often used also in other fields:
¤ Medicine ¤ Entertainment ¤ Training & Education ¤ Social services ¤ Surveillance & Military applications
¤ Space & Underwater tasks ¤ Construction ¤ Agriculture ¤ Domotics ¤ ….
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Robots
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Entertainment robots AIBO - Sony
ASIMO - Honda http://www.honda.co.jp/ASIMO/
http://www.aibo.com/
NAO, Aldebaran Robotics since 2008, replaces AIBO quadrupeds in RoboCup standard league
Q-RIO – Sony (2003) First robot able to balance on a surf
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Entertainment robots
C3PO – Star Wars Lego – MindStorm www.lego.com
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Service robots
Robomow RL500 Automatic gardener
iRobot-LE Mobile robot for surveillance (home, office, etc). It can be tele-controlled.
Dyson-DC06 Home-robot. Vacuum cleaner & washes floors, autonomously.
Automower autonomous robot by Husqvarna (Sweden)
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Service robots
Robots for safety missions
Other robots: http://www.21stcentury.co.uk/robotics/ http://ranier.oact.hq.nasa.gov/telerobotics_page/realrobots.html
Other examples: • Mall cleaning robots (USA) • Swimming pools cleaners • …
Skywash cleans civil airplane bodies and is “the largest robot worldwide” (AEG/Dornier/FhG-IPA/Putzmeister)
A robot prototype for cleaning large glass windows of civil buildings
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Legged robots
MIT Leg Laboratory Since the 80’s
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Legged robots
Dante II – For active vulcanoes exploration
Legged robots: http://www.fzi.de/divisions/ipt/WMC/walking_machines_katalog/walking_machines_katalog.html Big Dog – Boston Dynamics
Cheetah – Boston Dynamics (45.54 km/h)
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Anthorpomorphic upper limbs
Justin has 7+7+3 degrees of freedom + many dofs in the two hands (DLR, Germany)
Robot developed in a German national project on humanoids
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Anthorpomorphic upper limbs iCub IIT, Genova
Justin 45 degrees of freedom (DLR, Germany)
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Space applications
ISS International Space Station Canadarm 2 delivering Destiny Lab from Space Shuttle Atlantis
Canadian Arm Space Shuttle
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Space applications
NASA-JPL Pathfinder (1997)
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Space applications
NASA-JPL Spirit & Opportunity on Mars since 2004 Spirit silent since May 2011 Opportunity still working (Feb. 2014)
DLR – Germany / 1993 ROTEX catching floating objects on the Space Shuttle
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Underwater robotics • Typically actuated by thrusters (directional forces on the tail) • Cannot translate sideways (“maneuvers” are necessary)
Odin-II Univ. of Hawaii (omnidirectional)
TRIDENT: Underwater autonoumous activities (@UNIBO)
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Underwater robotics
Ansaldo underwater arm – SAUVIM project Cable hook task
Aqua robot amphibious robotic vehicle (Mac Gill University, Montreal, Canada) • size and weight: 50x65x13 cm, 18 kg • locomotion: through six independently
actuated flippers • maximum depth: 37 m • sensors: two cameras (front/back), acoustic
sensor for localization • (sonar), tri-ocular sensor (structured light) • power source: 48V lithium battery
Robots Work to Stop Leak of Oil in Gulf … BP - which is responsible under federal law for the clean-up - said it was using four submersible vehicles, equipped with cameras and remote-controlled arms, to try to activate a blow-out preventer - a series of pipes and valves that could stop the leak ...
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Underwater robotics
Mariana Trench - 10,971 m (35,994 ft) (NOAA/National Geographic)
The Swiss-designed, Italian-built, United States Navy bathyscaphe Trieste reached the bottom at 1:06 p.m. on January 23, 1960, with U.S. Navy Lieutenant Don Walsh and Jacques Piccard on board. Iron shot was used for ballast, with gasoline for buoyancy. At the bottom, Walsh and Piccard were surprised to discover sole or flounder about 30 cm (1 ft) long, as well as a shrimp. According to Piccard, "The bottom appeared light and clear, a waste of firm diatomaceous ooze”. Only three descents have ever been achieved: 1. The manned descent by Trieste in 1960. 2. The unmanned ROVs Kaikō in 1996 3. The unmanned ROV Nereus in 2009
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Outdoor exploration
LAMA robot at CNRS-LAAS (Toulouse) A french-russian cooperation
RoboVolc On the surface of the Etna volcano: wheeled and tracked robots (University of Catania, 2003)
NIFTi - Earthquacke in Mirandola 2012
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Outdoor exploration
SHERPA (@UNIBO) Robotic system for search and rescue operations in alpine environment
AIROBOTS (@UNIBO) Unmanned aerial vehicle (AUV) for surveillance and monitoring
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Mine exploration
Groundhog (Carnegie Mellon) • 750 kg • Movable SICK lasers • Gas and immersion sensors • SLAM algorithm (simultaneous • Localization and mapping)
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DARPA Grand Challange
Competition for fully autonomous vehicles on a long mixed-type track $2 Million Cash Prize
The Ghostrider
The 2005 winning VW Touareg “Stanley”
Urban Grand Challange
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RoboCup
RoboCup World-wide robot soccer competition Since 1997 Different Leagues: • Humanoid • Middle Size • Simulation • Small Size • Standard platform
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Micro/Nano robotics
Not a robot: cyborg insects
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Exoscheleton – power amplifiers Great interest for
• Military purposes • Rehabilitation • Disable persons
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Medicine - Prosthetics
Along with telemanipulaiton, this is the first “application” field for robotic technologies
• commercialized by Ossur (Iceland) • a prosthesis sensorized at the knee (angle and force), capable of processing sensor data and of extracting a gait model of the user, so as to adapt its dynamical behavior (knee motion and stiffness) • made famous by the paralympic sprinter Oscar Pistorius
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Medicine - Rehabilitation
• "RUPERT" Robotic Upper Extremity Repetitive Therapy, (Arizona State University + Kinetic Muscles, Inc.) • Sustains the human arm with pneumatic muscles (McKibben actuators) • It can be programmed for the execution of cyclic exercises of rehabilitation
The stroke rehabilitation robot helps patients get movement back in their shoulders and arms.
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Medicine - Surgery http://www.intuitivesurgical.com/
• Minimally invasive surgery • Articulated wrist/tools • 3D computer vision • Navigation helps
Next generation: Trough the natural orifices
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Human – Robot interaction
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Articulated hands
University of Bologna: UB Hand II, III and IV DEIS-DIEM
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Study of human behavior
Kismet
COG
MIT Prof. R. Brooks
http://www.ai.mit.edu/projects/humanoid-robotics-group/ angry
disgusted happy interested sorrow
surprised
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Agriculture robots / Construction robots
• Several prototypes have been developed for agricultural applications
• Poor diffusion
• One of the main reasons: low cost of human work Similar considerations for construction…
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Robotic on the web (educational)
• Telegarden: http://cwis.usc.edu/dept/garden/ • Interaction with a remote garden • Plant seeds, water, monitor the progress
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Robotic on the web (educational)
• Australia: http://telerobot.mech.uwa.edu.au/ • Object manipulation • “Augmented reality”
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Robotics on the web (educational)
• University Jaume I, Spain: http://ciclop.act.uji.es/rmarin/research/ • Object manipulation • Different control modalities (voice, keyboard, …) • “Augmented reality”
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Robots …
List of non-industrial application of robots could go on … forever!
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Diffusion of service robots
Service robots for professional use: 76,600 units sold up to the end of 2009 1) With 23,200 units the service robots in defense applications, accounted for
30% of the total number of service robots for professional use sold up to the end of 2009.
2) Thereafter follow field robots (mainly milking robots) with 25% 3) Cleaning robots and medical robots with 8% each 4) Underwater systems with 7%
In 2010: + 4% units compared to 2009; +15% in terms of value (3.2 USD Billion).
Source: IFR – International Federation of Robotics -- www.ifr.org
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Diffusion of service robots
Service robots for personal and private use: about 5.6 million units for domestic use and about 3.1 million units for entertainment and leisure sold up to end of 2009 Projections for the period 2010-2013: 80,000 new service robots for professional use to be installed 11.4 million units of service robots for personal use to be sold (6.7 domestic, 4.6 entertainment)
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Main interest for the course: robots in industry
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Associations • http://www.ifr.org/ International Federation of Robotics • http://www.robotics.org USA • http://www.jara.jp/en/ Japan • http://www.robosiri.it/ Italiy: SIRI – ASS. IT. DI ROBOTICA E AUTOMAZIONE • http://www.vibab.se/swira/ Sweden • http://www.cs.uow.edu.au/isase/ara/ Australia • http://www.bara.org.uk/ United Kingdom: Robotics & Automation
• http://video-service-ras.org Full collection of vide-clips from the 1991 to 2006 editions of the IEEE Int. Conf. on Robotics and Automation (ICRA)
• http://www.service-robots.org Technical Committee on Service Robots of Robotics and Automation Society (RAS) of IEEE (Institute of Electrical and Electronics Engineers)
• http://www.euron.org/ Robotics in Europe (research) • http://www.robotics-in-europe.org/ Robotics in Europe (all)
• http://www.robocup2002.org/ • http://www.fira.net/
• Real Robots On the Web: http://ranier.hq.nasa.gov/telerobotics_page/realrobots.html